Double-trigger protocol control method for unmanned vehicle formation

• Main Authors: DONG LISHUO, ZHANG JUNFENG, LIN ZHIYANG, HUANG MENGXING
• Format: Patent
• Language: Chinese; English
• Published: 23.06.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention belongs to the technical field of unmanned driving, and relates to a double-trigger protocol control method for an unmanned vehicle formation, which comprises the following steps: step 1, based on a positive multi-agent system, acquiring driving state information of unmanned vehicles driving in the formation, and establishing a state space model of an unmanned vehicle formation system; and step 2, presetting and based on an event triggering mechanism, constructing a double-triggering protocol model of an observer and a controller of the unmanned vehicle in the formation system through linear programming in combination with a Lyapunov function method, and finally establishing a closed-loop augmentation system for completing the formation driving of the unmanned vehicle. According to the method, a positive multi-agent system is used for modeling an unmanned vehicle formation system, a double-trigger observation protocol is designed through linear programming in combination with a Lyapunov function